mirror of https://github.com/ArduPilot/ardupilot
99 lines
2.6 KiB
C++
99 lines
2.6 KiB
C++
#include "AP_Periph.h"
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#ifdef HAL_PERIPH_ENABLE_MAG
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/*
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magnetometer support
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*/
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#include <dronecan_msgs.h>
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#ifndef AP_PERIPH_MAG_MAX_RATE
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#define AP_PERIPH_MAG_MAX_RATE 25U
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#endif
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#ifndef AP_PERIPH_PROBE_CONTINUOUS
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#define AP_PERIPH_PROBE_CONTINUOUS 0
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#endif
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#ifndef AP_PERIPH_MAG_HIRES
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#define AP_PERIPH_MAG_HIRES 0
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#endif
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/*
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update CAN magnetometer
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*/
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void AP_Periph_FW::can_mag_update(void)
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{
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if (!compass.available()) {
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return;
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}
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#if AP_PERIPH_MAG_MAX_RATE > 0
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// don't flood the bus with very high rate magnetometers
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const uint32_t now_ms = AP_HAL::millis();
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if (now_ms - last_mag_update_ms < (1000U / AP_PERIPH_MAG_MAX_RATE)) {
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return;
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}
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#endif
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compass.read();
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#if AP_PERIPH_PROBE_CONTINUOUS
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if (compass.get_count() == 0) {
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static uint32_t last_probe_ms;
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uint32_t now = AP_HAL::millis();
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if (now - last_probe_ms >= 1000) {
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last_probe_ms = now;
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compass.init();
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}
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}
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#endif
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if (last_mag_update_ms == compass.last_update_ms()) {
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return;
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}
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if (!compass.healthy()) {
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return;
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}
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last_mag_update_ms = compass.last_update_ms();
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Vector3f field_Ga = compass.get_field() * 0.001;
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#if !AP_PERIPH_MAG_HIRES
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// normal message, float16 values
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uavcan_equipment_ahrs_MagneticFieldStrength pkt {};
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for (uint8_t i=0; i<3; i++) {
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pkt.magnetic_field_ga[i] = field_Ga[i];
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}
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uint8_t buffer[UAVCAN_EQUIPMENT_AHRS_MAGNETICFIELDSTRENGTH_MAX_SIZE] {};
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uint16_t total_size = uavcan_equipment_ahrs_MagneticFieldStrength_encode(&pkt, buffer, !periph.canfdout());
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canard_broadcast(UAVCAN_EQUIPMENT_AHRS_MAGNETICFIELDSTRENGTH_SIGNATURE,
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UAVCAN_EQUIPMENT_AHRS_MAGNETICFIELDSTRENGTH_ID,
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CANARD_TRANSFER_PRIORITY_LOW,
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&buffer[0],
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total_size);
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#else
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// High resolution magnetometer, for magnetic surveys
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dronecan_sensors_magnetometer_MagneticFieldStrengthHiRes pkt {};
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for (uint8_t i=0; i<3; i++) {
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pkt.magnetic_field_ga[i] = field_Ga[i];
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}
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uint8_t buffer[DRONECAN_SENSORS_MAGNETOMETER_MAGNETICFIELDSTRENGTHHIRES_MAX_SIZE] {};
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uint16_t total_size = dronecan_sensors_magnetometer_MagneticFieldStrengthHiRes_encode(&pkt, buffer, !periph.canfdout());
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canard_broadcast(DRONECAN_SENSORS_MAGNETOMETER_MAGNETICFIELDSTRENGTHHIRES_SIGNATURE,
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DRONECAN_SENSORS_MAGNETOMETER_MAGNETICFIELDSTRENGTHHIRES_ID,
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CANARD_TRANSFER_PRIORITY_LOW,
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&buffer[0],
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total_size);
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#endif // AP_PERIPH_MAG_HIRES
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}
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#endif // HAL_PERIPH_ENABLE_MAG
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